Abstract
Aiming at the characters of ammunition loading robot dynamic model which exists coupling and nonlinear, the method of establishing the ammunition loading robot dynamic model based on screw theory is put forward. Firstly, the kinetic energy screw, potential energy screw, and drive force screw of ammunition loading robot are established; then the mathematic model of inertia force, gravity, coriolis forces, and centrifugal force is determined; finally, the Lagrange dynamics equation of ammunition loading robot is founded based on screw theory. The simulations demonstrate the validity of the proposed method, and the method lays a solid foundation for the control strategy.
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